JP2010051431A - Washing machine, method of determining state of laundry, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To disentangle laundry by determining the entangled state of laundry. <P>SOLUTION: A washing machine includes a vibration detection section 6 for detecting vibration of a receiving tub 3, and an entanglement state determination section 9 detecting a change in the vibration detected by the vibration detection section 6, and when the magnitude of the change exceeds a predetermined value, determining that the laundry is entangled, wherein the entanglement state determination section 9 calculates a change in an amplitude value and a frequency component value of a signal obtaind by the vibration detection section 6, determines whether it is entangled or not and controls the rotation of a drum 1. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a drum-type washing machine or a washing / drying machine used in general households.

Conventionally, the behavior of a drum during washing and the behavior of the laundry in the drum are measured and estimated to change the rotation speed of the drum. For example, in Patent Document 1, an acceleration sensor is attached to a drum cylinder, and as shown in FIG. 11, the behavior of clothing is estimated from the change amount of the acceleration sensor output and the change amount of the torque current component of the motor. Control means for changing the speed of the rotating motor is provided.
JP 2006-346270 A

  However, in the above-described conventional configuration, only the unbalanced state of the laundry during dehydration and the amount of movement of the laundry during washing can be detected, and the state of the laundry (particularly the entangled state) cannot be detected. . Also, in the conventional configuration, only the drum rotation speed is controlled, and quick inversion control that rapidly inverts the drum during cleaning cannot be controlled according to the detection result of the acceleration sensor, and the total cleaning ability is There was a problem of being low.

  In order to solve the above-described conventional problems, in the present invention, the laundry is detected when the magnitude of the vibration change detected by the vibration detection unit and the vibration detection unit that detects the vibration of the receiving cylinder exceeds a predetermined value. An entanglement state determination unit that determines that an entanglement state has occurred is provided. In the entanglement determination unit, not only the amplitude value but also the frequency component of vibration is calculated as the magnitude of vibration to determine the entanglement of the laundry.

  In addition, the rotation control unit that controls the rotation of the drum from the output of the entanglement state determination unit, and the quick reversal control unit that performs the drive to rapidly invert the drum, the entanglement determination unit when the laundry is entangled When it determines, a rotation control part drives a quick inversion control part, and eliminates the tangle of the laundry.

  With this configuration, it is possible to determine the entanglement state of the laundry inside the drum and control the drum (motor), and as a result, it is possible to improve the washing ability of the washing machine.

  By using the washing machine, the laundry state determination method, and the program of the present invention, the tangled state of the laundry can be eliminated, and as a result, the washing ability of the washing machine can be improved.

  1st invention detects the change of the vibration detected by the vibration detection part which detects the vibration of a receiving cylinder, and a vibration detection part, and when the magnitude | size of the change exceeds a predetermined value, the laundry will be in an entangled state It is a washing machine provided with the entanglement state determination part which judges that it became, and the rotation control part which performs rotation control of a drum according to the determination result of an entanglement state determination part.

  With this configuration, the movement of the laundry can be grasped from the vibration of the receiving cylinder, and the rotation of the drum can be controlled in accordance with the tangled state of the laundry.

  According to a second invention, in the first invention, the vibration detection unit detects acceleration in at least one direction of up / down, left / right, and front / rear of the receiving cylinder, and the entanglement state determination unit determines the amplitude value of each signal detected by the vibration detection unit. Are sequentially calculated, and it is determined that the laundry is entangled when the calculated amplitude value is more than a predetermined value compared with the previous calculated value.

  Thereby, the entanglement of the laundry can be determined with a simple configuration that only measures the amplitude value of the signal.

  In a third aspect based on the first aspect, the entanglement state determination unit performs Fourier transform processing on the vibration data detected by the vibration detection unit, sequentially calculates vibration components in a predetermined frequency range, and calculates the calculated vibration component value. Determines that the laundry is entangled when there is a change of a predetermined value or more compared to the previous calculated value.

  By performing a Fourier transform on the output data of the vibration detection unit, the movement of the laundry can be grasped in detail, and the entangled state can be determined with high accuracy.

  According to a fourth invention, in the third invention, there is provided at least one baffle disposed in the drum and stirring the laundry, wherein the rotational speed of the drum is V [rpm], and the number of baffles is n [pieces]. The entanglement state determination unit performs a Fourier transform process on the vibration data detected by the vibration detection unit, sequentially calculates vibration components in a predetermined frequency range including n × V / 60 [Hz], When the calculated vibration component value changes more than a predetermined value compared to the previous calculated value, it is determined that the laundry is involved.

  By applying Fourier transform to the vibration of the receiving tube and extracting the vibration in the frequency range centered on n × V / 60 [Hz], the movement of the laundry can be captured with higher accuracy. Thereby, the detection accuracy of the entangled state can be improved.

  According to a fifth invention, in any one of the first to fourth inventions, the tumbling control unit that controls the motor to drive the drum at a predetermined rotational speed for a predetermined time, and controls the motor to change the rotation direction of the drum. A quick inversion control unit that rapidly inverts in a short time interval and a rotation control unit that drives the quick inversion control unit when the entanglement state determination unit determines the entanglement state of the laundry during the operation of the tumbling control unit .

  Thereby, quick inversion control can be performed when the entanglement state determination unit determines entanglement, and the entanglement of the laundry can be efficiently reduced.

  A sixth invention comprises any one of the first to fourth inventions, comprising a user interface unit that notifies the user of the entangled state by display or sound, and when the entangled state determining unit determines the entangled state, A rotation control unit that stops the rotation of the motor and the drum and notifies the entangled state using the user interface unit is provided.

  By stopping the rotation of the drum when the entangled state is detected, it is possible to continue washing in the entangled state and prevent the occurrence of uneven washing, and further notify the user by washing the user. An opportunity to resolve the tangled things can be given.

  In a seventh aspect of the invention, the step of detecting the vibration of the receiving cylinder, the step of detecting a change in the detected vibration, and determining that the laundry has become entangled when the magnitude of the change exceeds a predetermined value A laundry state determination method including steps.

  Thereby, the entanglement state of the laundry can be determined from the vibration of the receiving tube.

  An eighth invention is a program for causing a computer to realize at least a part of the functions of the washing machine according to any one of the first to sixth inventions. Since it is a program, some or all of the functions of the present invention can be easily realized by using hardware resources such as electric / information equipment and a computer in cooperation. Also, program distribution and installation can be simplified by recording on a recording medium or distributing a program using a communication line.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment.

(Embodiment 1)
FIG. 1 shows a configuration diagram of a washing machine according to a first embodiment of the present invention. The main components of the present invention described in the drawings will be described in order.

  (1) A drum 1 as a washing tub for storing and rotating laundry such as clothes is coupled to a motor 2 as shown in the figure, and rotates to wash the laundry. A baffle 7 for agitating the laundry is provided inside the drum 1 (in this embodiment, it is assumed that there are three baffles 7 inside the drum 1).

  (2) The motor 2 for rotating the drum 1 is composed of a brushless motor or the like. The rotation speed is variable, and the forward and reverse rotations are repeated in the washing process. The motor 2 is not a brushless motor, and may have another configuration.

  (3) As shown in FIG. 1, the receiving cylinder 3 that accommodates the drum 1 and water is fixed to the housing 5 via an elastic support mechanism 4 such as a spring 4a or a damper 4b.

  (4) The vibration detection unit 6 that detects the vibration of the receiving cylinder 3 includes an acceleration sensor. In the present embodiment, the vibration detection unit 6 detects vibration (acceleration) in the left-right direction with respect to the front surface of the drum 1. To do. In this embodiment, the vibration in the left-right direction is detected, but it may be in the up-down direction or the front-back direction. The acceleration sensor may be a semiconductor acceleration sensor, a piezoelectric acceleration sensor, a capacitive acceleration sensor, or the like, and may be a multi-axis (two-axis or three-axis) acceleration sensor. Since the actual vibration of the receiving cylinder 3 is not necessarily limited to the left and right directions, an improvement in accuracy can be expected by using a sum of three-axis acceleration components using a three-axis acceleration sensor.

(5) The entanglement state determination unit 9 calculates a vibration component and an amplitude value in a predetermined frequency range from the vibration (acceleration data) detected by the vibration detection unit 6. The entanglement state determination unit 9 is configured by a microcomputer, and performs discrete Fourier transform (DFT) or fast Fourier transform (FFT) on the signal obtained by the vibration detection unit 6.
(Fourier Transform) is performed to calculate the magnitude of a vibration component (Fourier amplitude spectrum, power spectrum, etc.) in a predetermined frequency range. Specifically, when the rotation speed of the drum 1 (motor 2) is V [rpm] and the number of baffles is n, a predetermined value including V / 60 × n [Hz] is obtained from data obtained from the vibration detection unit 6. Calculate vibration components in the frequency range. This is a component of vibration generated by the baffle in the drum 1, and is a component that is easily changed depending on the state of the laundry. For example, in a washing state where the laundry is lifted up by the baffle inside the drum 1 and then falls below the drum, this vibration component is small, but the laundry becomes tangled and becomes a single piece under the drum 1. In such a case, this vibration component becomes large. The entanglement state determination unit 9 determines whether the laundry is entangled based on the change in the magnitude and amplitude value of the frequency component.

(6) The tumbling control unit 11 controls the motor 2 to rotate the drum 1 repeatedly at a predetermined speed for a predetermined time. A specific operation example of the tumbling control unit 11 is shown in FIG. FIG. 2 shows an example in which the drum 1 is driven at a rotational speed of 41 rpm. In the tumbling control in this example, the drum 1 is rotated for 10 seconds, paused for 2 seconds, and then rotated in the reverse direction in the same procedure. In this example, the rotation speed is fixed at 41 rpm, but other rotation speeds may be used.

  (7) The quick reverse control unit 12 controls the motor 2 to rapidly reverse the rotation direction of the drum 1 at short time intervals. An example of specific quick inversion control is shown in FIG. In this example, the drum is rapidly reversed every second at a speed as fast as 53 rpm. By rapidly moving the laundry, the entanglement of the fabric can be reduced. In this figure, the drum is reversed at a reversal time interval of 1 second and a speed of 53 rpm, but other settings may be used.

  (8) The motor drive unit 13 is a control circuit for the motor 2, and drives the motor 2 in accordance with the outputs of the tumbling control unit 11 and the quick reverse control unit 12.

  (9) The user interface unit 14 notifies the user of the state of the laundry. Specifically, it consists of display devices such as LEDs and liquid crystal panels, sound generation devices such as speakers and buzzers, and their control circuits. When tangling occurs in the laundry, the display and sound are displayed to the user. Notification is made.

  (10) When the entanglement state determination unit 9 determines the entanglement of the laundry, the rotation control unit 10 activates the quick inversion control unit 12 and the user interface unit 14 described above to control the entanglement. Or notify the user of the entanglement situation.

  The operation of the washing machine configured as described above will be described below with reference to FIGS.

  4 and 5 are diagrams showing the operation principle of the present invention. (A) in FIG. 4 and FIG. 5 is an example showing the state of the laundry in the drum 1. The laundry is depicted in a circle in the drum 1 and the baffle 7 is represented by a triangle inside the drum. The baffle 7 has a role of picking up the laundry and stirring it. In the present embodiment, as shown in the figure, three baffles 7 are provided inside the drum 1 (the number of baffles n = 3).

  FIG. 4A shows a normal state where the laundry is not tangled. The laundry is lifted apart to the upper part of the drum 1 by the baffle 7, but is peeled off from the inside of the drum 1 on the way to the uppermost part and falls to the lower part of the drum 1 by gravity (because of the speed, it is knocked on the lower part). This state is also called “tapping state” and is the washing method with the highest washing performance.

  Fig.5 (a) is an example of the state in which the laundry is entangled. Since the laundry is entangled and the separated laundry is solidified, the laundry is simply rotated at the bottom of the drum 1. In this case, since the amount by which the laundry is lifted by the baffle 7 is small, the laundry is not stirred much, and the cleaning performance is lower than that in the state of FIG. This state is also called a “gorologo state”. In this case, the laundry cannot be washed as a whole, and washing unevenness occurs, resulting in a portion of the laundry that cannot be washed at all.

4A and 5A, discrete Fourier transform processing is performed on the vibration data obtained by the vibration detector 6 (acceleration data in the horizontal direction with respect to the drum 1 in the present embodiment). FIG. 4B and FIG. 5B show the results of performing frequency analysis. In the figure, the horizontal axis represents frequency (unit: Hz), and the vertical axis represents Fourier amplitude spectrum (unit: G).
Sec). The “baffle vibration component” described in the figure is a vibration component caused by the baffle hitting the laundry, and V / 60 × n [Hz] (in this embodiment, since the number of baffles is 3, V / 60 × 3 [Hz]) vibration component (Fourier amplitude spectrum). The baffle vibration component is compared with the beat-washing state (41 rpm / 60 sec × baffle number 3 = 2.05 Hz) in FIG. 4B, and the buzzing state (41 rpm / 60 sec × baffle number 3 = 2. 05Hz) is larger. In the state of FIG. 5B, the laundry always comes into contact with the baffle 7 at the lower part of the drum 1, and the laundry rotates on the spot due to the influence. Therefore, vibration occurs every time the baffle 7 hits the laundry, and the vibration component at V / 60 × n [Hz] increases.

  In the present embodiment, whether the laundry is tangled or not is determined based on the magnitude of the change in the baffle vibration component. However, the rotational speed V [rpm] of the drum 1 (motor 2) is not necessarily constant depending on the behavior of the laundry and the performance variation of the motor, but varies within a certain range. For this reason, the frequency range for calculating the baffle vibration component needs to have a width, and a certain range needs to be set as “a vibration component in a predetermined frequency range including V / 60 × n [Hz]”. . For example, if the rotational speed V varies by plus or minus d [rpm], the spectrum of vibrations generated corresponding to the rotational speed V also varies, and (Vd) / 60 × n [Hz] to (V + d) / 60. It becomes the range of xn [Hz]. By summing the vibration components in this range, the baffle vibration component can be accurately obtained (note that the vibration components are summed in the predetermined range, but may be an average or a maximum value within the range).

  In the present embodiment, when the signal of the vibration detection unit 6 attached to the receiving cylinder 3 is subjected to discrete Fourier transform processing by the entanglement state determination unit 9, the baffle vibration component is obtained, and this value suddenly increases. Therefore, the rotation of the drum 1 is controlled. Thereby, the entangled state of the laundry can be avoided, and as a result, the washing ability of the washing machine can be increased.

  FIG. 6 is a flowchart for detecting the entanglement of the laundry according to the operation principle described above. When the entanglement is detected, the quick inversion control is performed on the drum 1. Hereinafter, it demonstrates in order for every step. This flowchart shows the operation procedure of the washing process, and it is assumed that the processes such as the determination of the amount of cloth, the addition of detergent, and the water injection have been completed before this process.

  (Step A1) After the start of the washing process, the rotation control unit 10 activates the tumbling control unit 11 to rotate the drum 1 for a predetermined time at a predetermined speed as shown in FIG. This rotational speed is V [rpm] described above, and is a fixed value in the present embodiment (for example, V = 41 [rpm] in the case of FIG. 2).

  (Step A2) While the drum 1 is rotating at the speed V [rpm] by the tumbling control unit 11, the vibration detection unit 6 detects the vibration of the receiving cylinder 3 and outputs it to the entanglement state determination unit 9.

(Step A3) The entanglement state determination unit 9 acquires acceleration data (vibration data) detected by the vibration detection unit 6 in step A2 as time series data, and performs a Fourier transform process. Then, a baffle vibration component (vibration component in a predetermined frequency range including V / 60 × n [Hz]) is calculated. In this embodiment, the speed variation of the motor 2 is set to plus or minus 5 rpm, and the predetermined frequency range when obtaining the baffle vibration component is (V-5) / 60 × n [Hz] to (V + 5) / 60 × n. [Hz]. The vibration component value obtained by calculation is represented as F. Further, in the present embodiment, the vibration detection unit 6 detects vibration in one direction (left-right direction) of the receiving cylinder 3, but it may be in the up-down direction or the front-rear direction. When the vibration detection unit 6 is a triaxial acceleration sensor, the entanglement state determination unit 9 adds triaxial acceleration signals (left and right, up and down, front and rear) and performs a Fourier transform process on the addition result. . By summing the components of the three axes, vibration can be grasped more accurately. In the Fourier transform process, a discrete Fourier transform process (DFT) or a fast Fourier transform process (FFT) is performed by software in the microcomputer constituting the entanglement state determination unit 9 to calculate a Fourier amplitude spectrum and a power spectrum. Alternatively, the calculation may be performed using dedicated calculation hardware such as a DSP.

  (Step A4) The entanglement state detection unit 9 subtracts the previous calculated value F ′ of the vibration component value from the vibration component value F calculated in Step A3 to calculate the change ΔF. The previous value F ′ is stored in the entanglement state detection unit 9, and F ′ = F when there is no previous calculated value such as at the time of the first calculation.

  (Step A5) It is checked whether or not the difference ΔF between the vibration component values calculated in Step A4 is a positive value and larger than a predetermined value, that is, whether or not the baffle vibration component has increased by a predetermined amount or more. If it has increased by a predetermined amount or more, the process proceeds to step A7, and if not, the process proceeds to step A6.

  (Step A6) This is a case where there is no significant change in the vibration component value, and the vibration component value F calculated in Step A3 is substituted for the previous value F ′ stored in the entanglement state detection unit 9, and the process goes to Step A1. Return and perform the next tumbling control.

  (Step A7) Since the change in the vibration component value is larger than the predetermined value, the entanglement state detection unit 9 determines that the laundry is in the entanglement state and outputs the determination result to the rotation control unit 10.

  (Step A8) The rotation control unit 10 stops the operation of the tumbling control unit 11 and starts the quick inversion control unit 12. As a result, as shown in FIG. 3, the drum 1 is controlled to be reversed rapidly. Thereby, the laundry can be stirred at a timing different from that of the tumbling, thereby loosening the laundry and reducing the entangled state. After the quick inversion control is performed a predetermined number of times, the process returns to step A6.

  By the operations of steps A1 to A8 described above, the entanglement of the laundry is determined. When the entanglement is determined, the quick inversion control can be performed. By this control method, the laundry can be washed without being entangled, so that the washing unevenness can be eliminated and the overall washing ability can be increased. This also has the effect of shortening the washing time.

  FIG. 7 shows another operation procedure for determining the entanglement of the laundry. This is to determine the entanglement using the amplitude value instead of the vibration component value described in FIG.

  FIG. 8 shows an example of output data of the vibration detector 6 in a normal state without entanglement as shown in FIG. 4, and FIG. 9 shows an example of output data of the vibration detector 6 in an entangled state as shown in FIG. As shown in the figure, it can be seen that in a normal state without entanglement, the laundry is moving greatly in the drum 1, so that vibration (acceleration) is large, and conversely, in the entangled state, vibration (acceleration) is small.

  When the difference between the maximum value and the minimum value of the output data during one ON state in tumbling control (for one tumble, 10 seconds in the example of FIG. 2) is defined as the amplitude value, the amplitude value is large in the normal state. It can be said that the amplitude value decreases when the laundry is entangled. In the operation procedure shown in FIG. 7, the tangled laundry is determined using this amplitude value. Hereinafter, details of the operation procedure of FIG. 7 will be described step by step.

  (Step B1) Similar to step A1, the rotation control unit 10 uses the tumbling control unit 11 to rotate the drum 1 at a predetermined speed for a predetermined time.

  (Step B2) Similar to step A2, the vibration detection unit 6 detects the vibration of the receiving cylinder 3 during tumbling and outputs it to the entanglement state determination unit 9.

  (Step B3) The entanglement state determination unit 9 obtains the maximum value / minimum value in one tumble from the vibration data obtained by the vibration detection unit 6 as shown in FIG. 8 and FIG. Calculate In this embodiment, the amplitude value is calculated from the maximum value / minimum value during one tumble (10 seconds). However, the number of tumbles may be increased, or a shorter time interval (for example, 1 second). But it ’s okay.

  (Step B4) The entanglement state determination unit 9 subtracts the previous value P ′ of the amplitude value from the amplitude value P, and calculates the difference ΔP. The previous value P ′ is stored in the entanglement state detection unit 9, and P ′ = P when there is no previous calculated value, such as at the time of the first calculation.

  (Step B5) It is checked whether or not the difference ΔP of the amplitude value calculated in Step A4 is negative and its absolute value is larger than a predetermined value, that is, whether or not the amplitude value is smaller than a predetermined amount. When it becomes smaller than the predetermined amount, the process proceeds to Step B7. Otherwise, the process proceeds to step B6.

  (Step B6) This is a case where there is no significant change in the amplitude value. The amplitude value P calculated in Step B3 is substituted into the amplitude value P ′ stored in the entanglement state determination unit 9, and the process returns to Step B1. Perform the following tumbling control.

  (Step B7) The entanglement state detection unit 9 determines that the laundry is in an entanglement state, and outputs the determination result to the rotation control unit 10.

  (Step B8) The rotation control unit 10 stops the operation of the tumbling control unit 11, stops the rotation of the drum 1 (motor 2), and notifies the user of the entangled state using the user interface unit 14. . As a specific example of notification, an LED for detecting entanglement may be turned on as shown in FIG. 10, a entangled state may be displayed on a liquid crystal display, or a buzzer sound or sound may be emitted. The reason why the rotation of the drum 1 is stopped is that if the washing process is continued while being entangled, there is a large unevenness in washing, and a portion that cannot be washed is generated. Another reason is to allow the user to take out the laundry from the washing machine, loosen the tangle by hand, and re-enter the washing machine.

  When the user manually removes the entanglement and returns the laundry to the drum 1 and then presses the start button again, the process returns to Step B6 and the washing process is continued by repeating Steps B1 to B8 described above. .

  In step A8 in FIG. 6, the rotation control unit 10 operates the quick inversion control unit 12 to automatically eliminate the entanglement. However, this method may not always eliminate the entanglement completely. In this step, the entanglement may be resolved by notifying the user of the entanglement. Thereby, although the user's work increases, the entanglement can be surely eliminated.

  Through the operations in steps B1 to B8 described above, it is possible to determine the entanglement of the laundry, stop the drum 1 when the entanglement occurs, and notify the user of the entangled state. As a result, it is possible to avoid a situation where the laundry cannot be sufficiently washed due to entanglement. In addition, when the user detects the entanglement, the user can appropriately eliminate the entanglement of the laundry, and as a result, the washing ability of the washing machine can be increased.

As described above, the entanglement of the laundry can be determined by detecting the change in the frequency component or the amplitude value of the vibration data of the receiving cylinder 3 using either the operation procedure of FIG. 6 or FIG. Thereby, the washing | cleaning capability of a washing machine can be improved and the washing time can be shortened as a result.

  In the above-described embodiment, the entanglement state determination unit 9 calculates the vibration component in a predetermined frequency range including V / 60 × n [Hz]. However, other frequency ranges may be used. In particular, V / 60 [Hz] to V / 60 × n [Hz] are vibration components related to the movement of the laundry, and frequency components in this range may be calculated.

  As described above, the washing machine, the laundry state determination method, and the program according to the present invention determine whether the laundry is entangled from the vibration of the receiving tube, and determine the entangled state by quick inversion control or display to the user. Can be resolved. This can be widely applied not only to a home-use washing machine but also to a washing / drying machine and a commercial washing machine.

Configuration diagram of washing machine according to Embodiment 1 of the present invention Explanatory drawing of tumbling control of the washing machine Explanatory drawing of quick reverse control of the washing machine (A) Explanatory drawing of the normal state showing the operating principle of the washing machine (b) Graph showing the frequency characteristics (A) An explanatory diagram of the entangled state showing the operating principle of the washing machine (b) a graph showing the frequency characteristics Flow chart showing operation of the washing machine Flow chart of another example showing the operation of the washing machine Explanatory drawing of output signal of vibration detector in normal state Explanatory diagram of the output signal of the vibration detector in the entangled state Display explanation drawing of the washing machine The figure which shows the structure of the conventional washing machine

Explanation of symbols

1 Drum 2 Motor 3 Cylinder 4a Spring (elastic support mechanism)
4b Damper (elastic support mechanism)
DESCRIPTION OF SYMBOLS 5 Housing 6 Vibration detection part 7 Baffle 9 Entanglement state determination part 10 Rotation control part 11 Tumbling control part 12 Quick inversion control part 13 Motor drive part 14 User interface part

Claims (8)

A drum that accommodates and rotates laundry, a receiving cylinder that accommodates the drum and is supported by an elastic support mechanism, a motor that rotates the drum, a vibration detection unit that detects vibration of the receiving cylinder, and the vibration detection An entanglement state determination unit that detects a change in vibration detected by the unit and determines that the laundry is entangled when the magnitude of the change exceeds a predetermined value; and the drum according to a determination result of the entanglement state determination unit A washing machine including a rotation control unit that performs rotation control of the machine. The vibration detection unit detects acceleration in at least one direction of up / down, left / right, and front / rear of the receiving cylinder, and the entanglement state determination unit sequentially calculates the amplitude value of each signal detected by the vibration detection unit, and calculates the calculated amplitude value The washing machine according to claim 1, wherein the laundry is determined to be tangled when there is a change of a predetermined value or more compared to the previous calculated value. The vibration detection unit detects acceleration in at least one direction of up / down, left / right, and front / rear of the receiving cylinder, and the entanglement state determination unit performs a Fourier transform process on the vibration data detected by the vibration detection unit, and performs a predetermined frequency range. 2. The washing machine according to claim 1, wherein the vibration component is sequentially calculated, and it is determined that the laundry is tangled when the calculated vibration component value changes by a predetermined value or more compared to the previous calculation value. At least one baffle arranged in the drum and stirring the laundry, when the rotational speed of the drum is V [rpm] and the number of the baffles is n [pieces] A Fourier transform process is performed on the vibration data detected by the vibration detection unit, vibration components in a predetermined range of frequencies including n × V / 60 [Hz] are sequentially calculated, and the calculated vibration component value is the same as the previous calculated value. The washing machine according to claim 3, wherein the laundry is determined to be tangled when there is a change of a predetermined value or more by comparison. A tumbling control unit that controls the motor to drive the drum at a predetermined rotation speed for a predetermined time; and a quick inversion control unit that controls the motor to rapidly reverse the rotation direction of the drum at short time intervals, The rotation control unit drives the quick inversion control unit when the entanglement state determination unit determines that the laundry is entangled during the operation of the tumbling control unit. Washing machine. A user interface unit that notifies the user of the entanglement state by display or sound, and the rotation control unit stops the rotation of the motor and the drum when the entanglement state determination unit determines the entanglement state, and the user interface unit A washing machine given in any 1 paragraph of Claims 1-4 which uses and notifies a user of an entanglement state. Laundry having a step of detecting vibration of the receiving cylinder, a step of detecting a change in the detected vibration, and a step of determining that the laundry has become entangled when the magnitude of the change exceeds a predetermined value State determination method. The program for making a computer implement | achieve at least one part of the washing machine of any one of Claims 1-6.

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